WO2016152218A1 - トンネル掘進機 - Google Patents
トンネル掘進機 Download PDFInfo
- Publication number
- WO2016152218A1 WO2016152218A1 PCT/JP2016/051591 JP2016051591W WO2016152218A1 WO 2016152218 A1 WO2016152218 A1 WO 2016152218A1 JP 2016051591 W JP2016051591 W JP 2016051591W WO 2016152218 A1 WO2016152218 A1 WO 2016152218A1
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- WIPO (PCT)
- Prior art keywords
- rotation
- measurement
- value
- data
- cutter head
- Prior art date
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- 238000005259 measurement Methods 0.000 claims abstract description 288
- 238000012545 processing Methods 0.000 claims abstract description 91
- 238000012937 correction Methods 0.000 claims description 41
- 238000009412 basement excavation Methods 0.000 claims description 12
- 230000005641 tunneling Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 description 23
- 239000003795 chemical substances by application Substances 0.000 description 23
- 238000000034 method Methods 0.000 description 22
- 238000004364 calculation method Methods 0.000 description 19
- 230000008569 process Effects 0.000 description 18
- 238000001514 detection method Methods 0.000 description 12
- 238000012986 modification Methods 0.000 description 9
- 230000004048 modification Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000005192 partition Methods 0.000 description 6
- 230000005856 abnormality Effects 0.000 description 5
- 230000002441 reversible effect Effects 0.000 description 5
- 238000005070 sampling Methods 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000009529 body temperature measurement Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000000737 periodic effect Effects 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 2
- 239000002002 slurry Substances 0.000 description 2
- 235000006506 Brasenia schreberi Nutrition 0.000 description 1
- 244000267222 Brasenia schreberi Species 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
- E21D9/0875—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield with a movable support arm carrying cutting tools for attacking the front face, e.g. a bucket
- E21D9/0879—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield with a movable support arm carrying cutting tools for attacking the front face, e.g. a bucket the shield being provided with devices for lining the tunnel, e.g. shuttering
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
- E21D9/1013—Making by using boring or cutting machines with rotary cutting tools on a tool-carrier supported by a movable boom
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/12—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring axial thrust in a rotary shaft, e.g. of propulsion plants
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
- E21D9/087—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
Definitions
- the present invention relates to a tunnel excavator, and more particularly to a tunnel excavator that measures distortion of a rotating part such as a cutter head.
- tunneling machines that measure the distortion of rotating parts such as cutter heads are known.
- Such a tunnel digging machine is disclosed in, for example, Japanese Utility Model Publication No. 61-152097.
- Japanese Utility Model Publication No. 61-152097 discloses a configuration in which strain is measured by a strain sensor attached to a rotating part such as a cutter head in a tunnel machine.
- the tunnel excavator performs excavation of natural ground by moving forward with the thrust of the propulsion jack while rotating the cutter head.
- the force acting on the cutter head (cutter thrust) is generally estimated by subtracting various resistances such as the frictional resistance between the outer periphery of the body and the ground from the jack thrust, but Japanese Utility Model Laid-Open No. 61-152097 discloses: By using the strain measurement value, the cutter thrust is obtained more directly.
- the excavation may be carried out across different geological layers, or there may be encounters with buried objects or gravel. It is important to grasp the cutter thrust in order to prevent damage to the cutter head and the cutter drive unit and abnormal wear of the cutter bit (excavation blade).
- the present invention has been made to solve the above-described problems, and one object of the present invention is to suppress the measurement error associated with rotation and grasp the force acting on the cutter head with higher accuracy. It is to provide a tunnel machine that can do.
- a tunnel digging machine includes a cutter head, a cutter support portion that supports the cutter head and rotates together with the cutter head, and rotates the cutter head and the cutter support portion.
- the “current measurement value” is a concept including not only a distortion measurement value at the current rotation angle but also a distortion measurement value at a rotation angle that can be regarded as equivalent to the current rotation angle.
- the current measurement value includes a rotation angle at a time point one sampling period before the current (sampling immediately before the current angle detection value immediately before the current measurement value). Data) and a distortion measurement value at a rotation angle ( ⁇ -1 degree) returned by 1 degree from the current angle ⁇ may be included.
- the “corresponding measurement value” is not a past distortion measurement value at a rotation angle exactly the same as the current angle (for example, the same angle before one rotation), but a past measurement value at a rotation angle slightly deviated from the current angle. It may be a distortion measurement value.
- the data processing unit is configured to acquire the current measurement value of the strain sensor acquired at the current angle of the cutter head and the past acquired at the rotation angle corresponding to the current angle.
- the error data is acquired based on the corresponding measurement value, and the current measurement data is corrected using the error data.
- the current measurement data is corrected by using the error data acquired based on the corresponding measurement value at the past rotation angle corresponding to the current angle and the current measurement value, thereby accompanying the rotation.
- the corresponding measurement value is a measurement value of a strain sensor that is past one rotation with respect to the current angle. If comprised in this way, error data can be acquired based on the latest corresponding measurement value before one rotation. As a result, the effect of changes in the situation (changes in jack thrust and changes in ground conditions) between the current time point and the time point when the corresponding measurement value was acquired, compared to the case where the old corresponding measurement value before multiple rotations was used Can be reduced. As a result, error data reflecting the measurement error associated with the rotation can be acquired with higher accuracy, so that the measurement error associated with the rotation can be corrected with higher accuracy.
- the data processing unit obtains the reference value calculated using the measurement values of the plurality of strain sensors for at least one past rotation, the current measurement value, and the corresponding measurement value. And is configured to calculate error data. If comprised in this way, the reference value which fully reflected the periodicity of the measurement error accompanying rotation can be obtained by using the measured value for at least one past rotation. Then, by evaluating the difference in the measured value (current measured value and corresponding measured value) of the current rotation angle with respect to the reference value, it is possible to easily obtain error data reflecting the measurement error associated with the rotation.
- the reference value is an average value of the measurement values of the strain sensor over the past one rotation immediately before the current angle.
- the reference value is an average value of the measurement values of the strain sensor over the past one rotation immediately before the current angle.
- the data processing unit uses a difference between the average value of the current measurement value and the corresponding measurement value and the reference value.
- the error data is calculated. If comprised in this way, the influence of the time shift
- the data processing unit preferably corrects the measurement data using error data during the rotation at least one rotation after the cutter head starts rotating, and the rotation of the cutter head is longer than a predetermined time.
- the correction of the measurement data using the error data is stopped. If comprised in this way, measurement data correction
- the correction of the measurement data based on the error data using the corresponding measurement value during the past rotation is not appropriate, so that the correction of the measurement data based on the error data can be stopped.
- FIG. 1 is a schematic longitudinal sectional view of a tunnel excavator according to a first embodiment of the present invention. It is a typical front view of the tunnel machine by 1st Embodiment of this invention. It is the block diagram which showed the apparatus for performing distortion measurement. It is the figure which showed notionally the present measurement value, corresponding measurement value, and error data. It is the figure which showed the data sequence when a cutter head rotates forward. It is the figure which showed the data sequence when a cutter head reversely rotates. It is a distortion measurement flow by the data processing device of the tunnel machine according to the first embodiment of the present invention. It is a calculation flow by the data processor of the tunnel machine according to the first embodiment of the present invention.
- the tunnel excavator 1 includes a cutter head 11 that forms an excavation surface, a cutter column 12, a swivel base 13, and a cutter driving unit 14.
- the tunnel excavator 1 is a medium to large diameter type that employs an intermediate support method as a support method of the cutter head 11.
- the cutter head 11 is attached to an annular swivel 13 that is rotationally driven by legs (cutter column 12) extending in the rotation axis direction (X direction).
- the swivel base 13 is supported by a bearing 17 provided on a partition wall (bulk head) 16 of the front body portion 15 so as to be rotatable around a rotation axis.
- the cutter column 12 is an example of the “cutter support portion” in the present invention.
- the cutter head 11 is formed in a circular shape (see FIG. 2) when viewed from the excavation direction, and is configured to rotate around the rotation axis A.
- the cutter head 11 has a cutter bit 11a on the excavation surface forward (X1 direction) in the excavation direction.
- a plurality of cutter bits 11a are respectively attached to a plurality of radial spoke portions 11b (see FIG. 2).
- the excavated soil cut by the cutter bit 11a enters the inside of the cutter head 11 through the through hole, and is carried out by a screw conveyor (not shown) in the case of the earth pressure shield.
- muddy water shield muddy water is fed into the cutter chamber between the cutter head 11 and the partition wall 16 to make the excavated soil slurry, and the slurry excavated soil is discharged from a pipe (not shown).
- the cutter column 12 is a hollow cylindrical beam member (beam), and is configured to support the cutter head 11 and to rotate together with the cutter head 11.
- the cutter column 12 has a front (X1 direction) end attached to the spoke part 11 b of the cutter head 11 and a rear (X2 direction) end attached to the swivel base 13.
- the cutter columns 12 are arranged at equiangular intervals at positions spaced apart from the rotation axis A by a predetermined distance in the radial direction. Specifically, in the cutter head 11, eight spoke portions 11b are provided at intervals of 45 degrees. A total of eight cutter columns 12 are provided, one for each spoke portion 11b. Therefore, the cutter columns 12 are arranged around the rotation axis A at equal angular intervals of 45 degrees.
- the cutter column 12 has a prismatic shape.
- the swivel base 13 is formed in an annular shape, and supports a plurality (eight) of cutter columns 12 on the front (X1 direction) side.
- the swivel base 13 is supported so as to be rotatable around the rotation axis A by a bearing 17 provided on the partition wall 16 of the front body portion 15.
- the cutter driving unit 14 is arranged behind the partition wall 16 (X2 direction), and is configured to apply a driving torque to the swivel base 13 and rotate around the rotation axis A.
- the cutter head 11 is supported by the cutter column 12 and the swivel base 13 so as to be rotatable around the rotation axis A, and the cutter head 11, the cutter column 12 and the swivel base 13 are integrally rotated (turned) by the cutter driving unit 14.
- the front trunk portion 15 and the partition wall 16 are stationary bodies that do not rotate.
- the tunnel excavator 1 includes a rotary encoder 20 (hereinafter referred to as an encoder 20) that detects the position (rotation angle) of the cutter head 11 in the rotation direction.
- the encoder 20 is provided behind the partition wall 16 (X2 direction), and extracts and detects the rotation angle of the cutter head 11 (the swivel base 13).
- the encoder 20 employs an absolute type capable of detecting the absolute position of the rotation angle, and detects the rotation angle of the cutter head 11 from the reference position (for example, the position shown in FIG. 2).
- the encoder 20 is an example of the “rotation angle detector” in the present invention.
- the tunnel excavator 1 propels in the excavation direction (X1 direction) by the propulsive force of the propulsion jack 21 provided in the front trunk portion 15.
- the plurality of propulsion jacks 21 constitute one block, and the plurality of blocks are arranged on the inner circumference of the cylindrical front body portion 15 over substantially the entire circumference.
- the rotation drive by the cutter drive unit 14 and the application (promotion) of jack thrust by the propulsion jack 21 are controlled independently.
- the tunnel excavator 1 includes a strain sensor 22 for measuring a force acting on the cutter head 11 and a data processing device (data processing unit) 23 for acquiring a detection result of the strain sensor 22.
- the strain sensor 22 can be provided in the cutter head 11 or the cutter column 12, the first embodiment shows an example in which the strain sensor 22 is provided in the cutter column 12.
- strain sensors 22 may be provided in the tunnel excavator 1.
- the strain sensor 22 includes four cutter columns 12 having an interval of about 90 degrees among the eight cutter columns 12 arranged at an equal angular interval of about 45 degrees. (Four places) are provided in each (hatched part).
- strain sensors 22 may be provided in all eight cutter columns.
- the tunnel machine 1 includes a temperature sensor 25 (see FIG. 3).
- the temperature sensor 25 is installed in the vicinity of the strain sensor 22 and detects the temperature in the vicinity of the strain sensor 22.
- the temperature sensor 25 is provided in order to remove the influence of the excavation heat on the strain measurement by temperature compensation.
- each strain sensor 22 is connected to a relay box 26 installed inside the center portion 11 c of the cutter head 11.
- the relay box 26 includes an amplifier 26a for the strain sensor 22, an amplifier 26b for the temperature sensor 25, a communication device 26c, and a power supply device 26d.
- the communication device 26 c is connected to the data processing device 23 via the rotary joint 27.
- the communication device 26c converts the signals output from the amplifier 26a and the amplifier 26b, respectively, and outputs the converted signals to the data processing device 23 as detection signals.
- the power supply device 26 d is connected to an external power supply 28 via a rotary joint 27.
- the power supply device 26d supplies power to the amplifier 26a, the amplifier 26b, and the communication device 26c.
- the data processing device 23 is a computer including a CPU 231 and a memory 232.
- the data processing device 23 has a function of acquiring measurement data of force (cutter thrust) acting on the cutter head 11 based on the detection result of the strain sensor 22. Further, the data processing device 23 is configured to acquire the rotational direction distribution of the force in the rotational axis direction (X direction) acting on the cutter head 11.
- the data processing device 23 is connected to the relay box 26 via the rotary joint 27, and acquires the detection signal of the strain sensor 22 from the communication device 26c of the relay box 26. Further, the data processing device 23 acquires a detection signal of the position (current angle ⁇ ) in the rotation direction of the cutter head 11 from the encoder 20. The data processing device 23 acquires strain measurement values in the rotation axis direction of the four strain sensors 22 at the current angle ⁇ .
- the data processing device 23 acquires the detection signal of the temperature sensor 25 from the communication device 26c of the relay box 26. For example, the data processing device 23 performs temperature compensation when the temperature of the cutter column 12 rises above a predetermined temperature. The data processing device 23 may always perform temperature compensation.
- the data processing device 23 is connected to a computer in an operation room (operating room) 29 of the tunnel excavator 1 and a computer in a ground monitoring room (not shown).
- the data processing device 23 can output the acquired measurement data.
- the data processing device 23 is acquired at the current measurement value Vp of the strain sensor 22 acquired at the current angle ⁇ of the cutter head 11 and the rotation angle corresponding to the current angle ⁇ .
- the error data Er is acquired based on the past corresponding measurement value Vo.
- the data processing device 23 is configured to correct the current measurement data F using the error data Er .
- the current angle ⁇ is a measurement value of the current rotation angle with respect to a predetermined reference rotation position of the cutter head 11.
- the current angle ⁇ is acquired in units of 1 degree from 0 degrees to 359 degrees, for example.
- the current angle ⁇ is a function of time, and may be replaced with the current time.
- the current measurement value Vp is a current strain measurement value corresponding to the current angle ⁇ .
- An average value (sensor average value) of strain measurement values acquired from the four strain sensors 22 at the same time (same angle) is used as the current measurement value Vp.
- the current measurement value Vp does not have to be strictly a distortion measurement value at the current angle ⁇ , but may be a distortion measurement value at a nearby rotation angle that can be regarded as equivalent to the current angle ⁇ .
- the corresponding measurement value Vo is a past distortion measurement value corresponding to the current measurement value Vp, and is stored in the memory 232.
- a distortion measurement value (sensor average value) acquired before one rotation (360 degrees) or a plurality of rotations with respect to the current measurement value Vp can be adopted.
- the corresponding measurement value Vo is a measurement value of the distortion sensor 22 in the past for one rotation with respect to the current angle ⁇ .
- the error data Er is measurement error data accompanying the rotation of the cutter head 11.
- the strain measurement value includes an error component that varies according to the rotation angle indicated on the horizontal axis. Including.
- the error data Er is an error component that varies according to the rotation angle, and has periodicity. That is, the variation of the distortion measurement value for one cycle (one rotation) shown in FIG. 4 appears with the same tendency after the second cycle (second rotation).
- FIG. 4 shows an example in which the jack thrust of the propulsion jack 21 is increased in proportion to the passage of time. Therefore, the distortion measurement values in FIG. 4 increase with the passage of time.
- the data processing device 23 calculates the error data Er using the reference value AG calculated using a plurality of measured values for at least one past rotation, the current measured value Vp, and the corresponding measured value Vo. It is configured.
- the error data Er of a certain rotation angle can be evaluated as a change amount of the current measurement value Vp and the corresponding measurement value Vo at the rotation angle with respect to the reference value AG.
- the reference value AG is calculated using, for example, each measurement value included between the current current measurement value Vp and the past corresponding measurement value Vo.
- the reference value AG reflects each measurement value for at least one rotation.
- the reference value AG is an average value of the measurement values of the strain sensor 22 over the past one rotation immediately before the current angle ⁇ . Therefore, the reference value AG is an average value of 360 measurement values for one rotation.
- the reference value AG is collected in time series ( ⁇ / 2) time point data (data at the intermediate point in the calculation range) from the present time series. Is done. Therefore, when there is a change in the jack thrust as shown in FIG. 4, it is necessary to consider the change DF in the jack thrust during a half cycle.
- the current measurement value Vp and the corresponding measurement value Vo are at both ends of the measurement value range used for calculating the reference value AG. Therefore, by using the average value A op, the reference value AG and can align chronologically between the average value A op, error data E r is calculated excluding variation DF jack thrust error .
- the error included in the current measured value Vp Assuming that there is no measurement error other than the error data Er and the jack thrust is directly reflected in the cutter thrust acting on the cutter head 11, as shown in FIG. 4, the error included in the current measured value Vp.
- the data and the error data included in the corresponding measurement value Vo are substantially equal, and the measurement value from which the measurement error is removed can be obtained by performing the correction by subtracting the error data Er from the current measurement value Vp. Thereby, the measurement data F of the cutter thrust after correction can be obtained.
- forward rotation for example, clockwise rotation
- reverse rotation for example, counterclockwise rotation
- the average value A op of the current measurement value Vp and the corresponding measurement value Vo is calculated by the following equation (1).
- “Measured value ( ⁇ + 1)” and “Measured value ( ⁇ 1)” are a measured value at the rotational angle ( ⁇ + 1) and a measured value at the rotational angle ( ⁇ 1), respectively.
- the measured value ( ⁇ + 1) corresponds to the past corresponding measured value Vo before one rotation
- the measured value ( ⁇ 1) corresponds to the current measured value Vp.
- the measured value ⁇ the measured value ( ⁇ 1) is regarded as the measured value ( ⁇ 1) as the current measured value Vp. .
- the measurement value ( ⁇ + 1) corresponds to the current measurement value Vp
- the measurement value ( ⁇ -1) corresponds to the past corresponding measurement value Vo one rotation before.
- the measurement value ( ⁇ + 1) is regarded as the current measurement value Vp, assuming that the measurement value ⁇ measurement value ( ⁇ + 1).
- the data processing device 23 corrects the measurement data F using the error data Er during at least one rotation after the cutter head 11 starts rotating, and the cutter head 11 rotates for a predetermined time. When the operation is stopped continuously, the correction of the measurement data F using the error data Er is stopped.
- the correction start timing after the start of rotation may be determined according to how many measurement values before the rotation are used as the corresponding measurement value Vo.
- the data processing device 23 since the measurement value before one rotation is used as the corresponding measurement value Vo, the data processing device 23 starts correcting the measurement data F by the error data Er after one rotation from the rotation start.
- the correction stop timing of the measurement data F at the stop is preferably set to a timing at which the influence of the change in the measurement data F before and after the correction stop is small.
- the data processing device 23 determines that the cutter head 11 has been stopped when there is no change in the current angle ⁇ for a certain period of time. Then, after determining that the cutter head 11 has been stopped, the data processing device 23 stops the correction using the error data Er when the stopped state continues for a predetermined stop standby time. Thereafter, when the rotation of the cutter head 11 is resumed, the data processing device 23 starts correction using the error data Er one rotation after the rotation is resumed.
- the measurement flow shown in FIG. 7 shows a process for acquiring a measurement result from each strain sensor 22 every predetermined sampling period (for example, 0.1 second).
- the data processing device 23 checks whether or not there is an abnormality in the sensor in step S1 of FIG.
- the data processing device 23 detects an abnormality in each of the strain sensors 22 and the temperature sensors 25 provided in the four cutter columns 12.
- the four strain sensors 22 for each cutter column 12 are referred to as gauge 1 to gauge 4, respectively, and the four temperature sensors 25 are referred to as temperature 1 to temperature 4.
- the data processing device 23 gives 0 as a detection value indicating the state of each sensor when there is an abnormality such as disconnection or short circuit, and gives 1 as a detection value when there is no abnormality.
- the detection values EG1 to EG4 of the gauges 1 to 4 and the detection values ET1 to ET4 of the temperature 1 to temperature 4 (0 or 1 respectively) are acquired.
- step S2 the data processing device 23 captures each measured value. Specifically, the current angle ⁇ of the cutter head 11 is acquired from the encoder 20. Further, strain measurement values G1a to G4a are obtained from the strain sensors 22 of the gauges 1 to 4. The strain measurement values of the gauges 1 to 4 at the current angle ⁇ are measurement values whose phases are shifted by 90 degrees in the rotation direction. Also, temperature measurement values T1a to T4a in the vicinity of the strain sensor 22 are obtained from the temperature sensors 25 of the temperature 1 to the temperature 4, respectively. An instantaneous value at the time of sampling of each sensor is taken as a measured value.
- step S3 the data processing device 23 performs low-pass filter processing on the obtained measurement values (distortion measurement values G1a to G4a and temperature measurement values T1a to T4a) to remove high-frequency components (noise).
- the low-pass filter process is performed by applying a low-pass filter function such as a moving average or a window function to the measurement value.
- a low-pass filter function such as a moving average or a window function
- step S4 the data processing device 23 performs a temperature compensation process on the distortion measurement values G1b to G4b after the low-pass filter process using the temperature measurement values T1b to T4b.
- the temperature compensation process is performed using a preset temperature compensation function.
- the strain measurement values after the temperature compensation processing are acquired as G1c to G4c.
- step S5 the data processing device 23 performs a process (data rearrangement) to match the phases of the respective rotation angles with respect to the strain measurement values G1c to G4c of the respective strain sensors 22 after the temperature compensation process. Organize as data for each rotation angle.
- the data processing device 23 rearranges the strain measurement values G1c to G4c after the temperature compensation processing of the gauges 1 to 4 acquired this time at the current angle ⁇ as data of the four rotation angles ⁇ as follows.
- G1 ( ⁇ ) G1c
- G2 ( ⁇ + 90) G2c
- G3 ( ⁇ + 180) G3c
- G4 ( ⁇ + 270) G4c
- strain measurement values for each rotation angle are sequentially acquired.
- the calculation flow shown in FIG. 8 shows processing for obtaining the force (cutter thrust) acting on the cutter head 11 and the rotation angle distribution of the force from the strain measurement value at every predetermined period (for example, 1 second).
- the data processing device 23 calculates the measurement data F of the force (cutter thrust) acting on the cutter head 11 in step S11 of FIG.
- the cutter thrust calculation process is performed by a calculation flow (subroutine) shown in FIG.
- step S ⁇ b> 21 of FIG. 9 the data processing device 23 calculates the sensor average value G ave ( ⁇ ) of the measured values at the current angle ⁇ .
- the sensor average value G ave ( ⁇ ) is an average value of the measurement values G1c to G4c of the four strain sensors 22 acquired at the present time (current angle ⁇ ).
- the sensor average value G ave ( ⁇ ) is expressed by the following equation (2).
- G ave ( ⁇ ) (G1c ⁇ EG1 + G2c ⁇ EG2 + G3c ⁇ EG3 + G4c ⁇ EG4) / (EG1 + EG2 + EG3 + EG4)
- the data processing device 23 records the obtained sensor average value G ave ( ⁇ ) in the memory 232.
- step S ⁇ b> 22 the data processing device 23 calculates an average value (reference value AG) of measurement values for one rotation (360 degrees) immediately before the current angle ⁇ , and records it in the memory 232.
- the reference value AG is expressed by the following formula (3).
- AG ⁇ G ave ( ⁇ ) / 360 (3)
- step S23 the data processing device 23 updates the value of the rotation counter C1.
- the rotation counter C1 counts the cumulative rotation angle from the start of rotation to the present up to the upper limit value.
- the rotation counter C1 is a counter for counting the rotation angle and determining the measurement data correction stop standby time (counting down) in order to determine whether one rotation has been made after the start of rotation. In the first embodiment, these two types of determination items are determined by a common rotation counter C1.
- the upper limit value of the rotation counter C1 is set to 720 (degrees).
- step S23 the absolute value
- of the difference between the angle at the previous calculation (previous angle ⁇ old ) and the current current angle ⁇ is added to the rotation counter C1 (C1 C1 +
- the rotation counter C1 has reached the upper limit value, the count is held at the upper limit value (720).
- step S ⁇ b> 24 the data processing device 23 determines whether there is a change in the rotation angle of the cutter head 11. The data processing device 23 determines that there is a rotation angle change when
- 0.
- the time counter C ⁇ b> 2 counts the stop continuation time up to an upper limit value for determining that the cutter head 11 is stopped when it is determined that there is no change in the angle of the cutter head 11.
- the upper limit value of the time counter C2 is set to 10 (seconds).
- the elapsed time is an elapsed time from the previous execution time of the arithmetic processing.
- the elapsed time to be added is 1 (second).
- the time counter C2 has reached the upper limit value, the count is held at the upper limit value (10 seconds).
- step S27 the data processing device 23 determines whether or not the time counter C2 is the upper limit value (10 seconds). If the upper limit value has not been reached, the data processing device 23 advances the process to step S29.
- C1 C1-Q
- the subtraction amount Q is set according to the stop standby time until the correction of the measurement data F is stopped after the time counter C2 reaches the upper limit value.
- the subtraction amount Q is set to 60. A specific relationship between changes in the rotation counter C1 and the time counter C2 and execution of correction of measurement data will be described later.
- step S30 the data processing device 23 calculates error data E r ( ⁇ ).
- the error data E r ( ⁇ ) is expressed by the following equation (4).
- the above formula (4) is the same as the above formula (1).
- one of G ave ( ⁇ 1) and G ave ( ⁇ + 1) corresponds to the current measurement value Vp, and the other corresponds to the corresponding measurement value Vo.
- ⁇ G ave ( ⁇ 1) + G ave ( ⁇ + 1) ⁇ / 2 is the above-described average value A op .
- step S31 the data processing device 23 determines whether or not the value of the rotation counter C1 is equal to or greater than the correction execution threshold value.
- the correction execution threshold 360 (degrees) corresponding to one rotation of the cutter head 11 is set.
- the data processing device 23 calculates the cutter thrust measurement data F in step S32.
- the data processing device 23 calculates the measurement data F by the following equation (5) using the sensor average value G ave ( ⁇ ) without performing correction using the error data Er .
- F K ⁇ G ave ( ⁇ ) (5)
- K is a coefficient for converting strain into thrust (stress).
- the data processing device 23 corrects the cutter thrust measurement data F using the error data E r ( ⁇ ) in step S33.
- the data processing device 23 calculates the measurement data F by the following formula (6).
- F K ⁇ ⁇ G ave ( ⁇ ) ⁇ E r ( ⁇ ) ⁇ (6)
- step S11 When the measurement data F is calculated in step S32 or step S33, the cutter thrust calculation process in step S11 ends. Next, returning to the main flow of FIG. 8, the process proceeds to step S12.
- the data processing device 23 calculates the rotation angle distribution Fd ( ⁇ ) of the force acting on the cutter head 11 for each rotation angle ⁇ .
- the force Fd ( ⁇ ) at a certain rotation angle ⁇ is expressed by the following equation (7).
- Fd ( ⁇ ) K ⁇ G ave ( ⁇ )
- G ave ( ⁇ ) (G 1 ( ⁇ ) ⁇ EG 1 + G 2 ( ⁇ ) ⁇ EG 2 + G 3 ( ⁇ ) ⁇ EG 3 + G 4 ( ⁇ ) ⁇ EG 4) / (EG 1 + EG 2 + EG 3 + EG 4) ... (7)
- G ave ( ⁇ ) is an average of strain measurement values at the same rotation angle ⁇ obtained in step S5 of FIG.
- Correction by the error data Er is not performed until the rotation counter C1 reaches the correction execution threshold value (360) corresponding to one rotation. That is, in the first rotation after the operation starts, the measurement data F is calculated without error correction by the above equation (5).
- measurement data F including error correction using the error data Er is calculated. That is, the measurement data F is calculated using the error data Er by the above equation (6). Since the current angle ⁇ takes a value from 0 to 359, the current angle ⁇ returns to 0 after 360 seconds.
- the rotation counter C1 When the rotation counter C1 reaches the upper limit value (720), the rotation counter C1 remains at the upper limit value (720) even if the rotation continues thereafter.
- the corrected measurement data F is calculated by the above equation (6) while the rotation counter C1 is equal to or greater than the correction execution threshold (360).
- the value of the rotation counter C1 is maintained at 0 after the time U12 when the rotation counter C1 ⁇ 0 by subtracting the subtraction amount Q (60).
- the data processing device 23 uses the current measurement value Vp of the distortion sensor 22 acquired at the current angle ⁇ of the cutter head 11 and the past acquired at the rotation angle corresponding to the current angle ⁇ .
- the error data Er is acquired based on the corresponding measurement value Vo, and the current measurement data F is corrected using the error data Er .
- the error component accompanying the rotation can be effectively corrected from the measurement data F of the force acting on the cutter head 11 using the periodicity of the measurement error accompanying the rotation.
- the corresponding measurement value Vo is the measurement value of the distortion sensor 22 in the past for one rotation with respect to the current angle ⁇ .
- the error data Er can be acquired based on the latest corresponding measurement value Vo before one rotation. Therefore, compared to the case where the old corresponding measurement values before multiple rotations are used, the influence of the change in the situation (change in jack thrust and change in the ground condition) between the current time point and the acquisition time point of the corresponding measurement value Vo. Can be reduced.
- the error data E is calculated using the reference value AG calculated using a plurality of measurement values for one past rotation, the current measurement value Vp, and the corresponding measurement value Vo.
- the data processing device 23 is configured to calculate r .
- the reference value which fully reflected the periodicity of the measurement error accompanying rotation can be obtained by using the measurement value for the past one rotation.
- error data Er reflecting the measurement error associated with the rotation can be easily obtained. can do.
- the reference value AG is the average value of the measurement values of the strain sensor 22 over the past one rotation immediately before the current angle ⁇ .
- the reference value AG when an intermediate value is adopted as the reference value AG, only a specific measurement value that is an intermediate value among the measurement values for one rotation is considered, whereas all the measurement values for one rotation are considered. Can be considered. As a result, it is possible to acquire error data Er more reflecting the measurement error for each rotation angle.
- the data processing device 23 calculates the error data Er based on the difference between the average value A op of the current measurement value Vp and the corresponding measurement value Vo and the reference value AG. Configure. Thereby, the time series of the average value A op of the current measurement value Vp and the corresponding measurement value Vo and the reference value AG can be matched. As a result, it is possible to calculate error data Er with higher accuracy by excluding influences during rotation such as a change in jack thrust.
- the measurement data F is corrected by the error data Er during the rotation one rotation after the rotation start of the cutter head 11, and the rotation of the cutter head 11 waits for a predetermined stop standby.
- the data processing device 23 is configured to stop the correction of the measurement data F based on the error data Er if the operation has been stopped for more than the time. Thereby, the measurement data F can be corrected by the error data Er after the measurement value necessary for obtaining the corresponding measurement value Vo is obtained. Further, even when the rotation of the cutter head 11 is stopped, it is possible to prevent the error data Er from being calculated using temporally old data that does not reflect the current situation. Further, by stopping the correction after the stop standby time has elapsed, it is possible to suppress a sudden change in the value of the measurement data F when the rotation is stopped.
- the demonstration experiment is performed when the tunnel excavator 1 is not in the ground so that the cutter thrust acting on the cutter head 11 can be accurately obtained from the jack thrust of the propulsion jack 21, and the own weight of the tunnel excavator 1 is determined.
- the frictional force was measured and corrected in advance.
- the distortion measured value of the cutter column 12 acquired in parallel was compared with the cutter thrust obtained from the jack thrust.
- FIG. 11 shows the time change of the cutter thrust calculated from the thrust of the propulsion jack 21.
- the rotation direction of the cutter head 11 was switched between forward rotation and reverse rotation while changing the jack thrust of the propulsion jack 21 with time.
- FIG. 12 is a time change of the measurement value (sensor average value G ave ( ⁇ )) obtained from the strain sensors 22 attached to the four cutter columns 12.
- FIG. 13 is a graph showing the measurement result obtained from the strain sensor 22 of FIG. 12 and the cutter thrust calculated from the thrust of the propulsion jack 21 (see FIG. 11). Correction using the error data Er is not performed. From FIG. 13, it can be seen that the strain measurement value obtained from the strain sensor 22 includes fine fluctuations compared to the cutter thrust calculated from the thrust of the propulsion jack 21.
- FIG. 14 is a graph showing the result of replacing the horizontal axis of the measurement result of the distortion of the cutter column 12 shown in FIG. 12 from the time axis to the rotation angle (cutter position) axis.
- One plot line is a measurement value for one rotation, and a plurality of plot lines are illustrated by a plurality of rotations. The reason why each plot line is shifted in the vertical axis direction is that the jack thrust is different for each rotation cycle. Comparing the respective plot lines, it can be seen that the measurement values include periodic fluctuations for each rotation angle in common. From this, it can be seen that the measurement value of the distortion of the cutter column 12 includes a periodic measurement error accompanying rotation.
- the error data Er is calculated by the following equation (8).
- m is a weighting factor of error data Er at the time of the previous calculation (currently recorded as the latest value), and an appropriate value is set in the range of 0 ⁇ m ⁇ 1 according to the actual use situation. .
- step S29 and step S30 are interchanged in the flow of FIG. 9, and error data Er is calculated, and then the previous angle ⁇ old is updated.
- the rotation is performed by correcting the current measurement data F using the error data Er calculated based on the current measurement value Vp and the corresponding measurement value Vo. It is possible to suppress the measurement error associated with the above and to grasp the thrust (measurement data F) acting on the cutter head 11 with higher accuracy.
- the error data Er is calculated by adding the previously calculated error data (E r ( ⁇ old )) to the error calculated at the current angle ⁇ .
- the calculated error data Er is delayed in time, and when an abnormal value is generated in the strain measurement value of the strain sensor 22 due to noise or the like, a sudden change in the measurement data F is alleviated. Can do.
- an example of an intermediate support type tunnel digging machine is shown, but the present invention is not limited to this.
- the present invention is not limited to this.
- a strain sensor may be attached in addition to the cutter column.
- the first modification shown in FIG. 16 shows an example in which a center shaft support system is adopted as a support system for the cutter head 11.
- the tunnel excavator 1 a according to the first modification includes a center shaft 112 that supports the cutter head 11 and rotates together with the cutter head 11.
- the strain sensor 22 is attached to the inside of a hollow cylindrical center shaft 112.
- Cutter thrust measurement data F is calculated from the strain measurement value of the strain sensor 22 of the center shaft 112.
- the center shaft 112 is an example of the “cutter support portion” in the present invention.
- the strain sensor 22 is installed in the spoke portion 11 b that is a part of the cutter head 11 in the tunneling machine 1 a of the center shaft support type.
- the spoke part 11b has a hollow rectangular tube shape.
- the strain sensor 22 is provided on the inner surface of the spoke portion 11b.
- Cutter thrust measurement data F is calculated from the strain measurement value of the strain sensor 22 of the spoke portion 11b.
- the strain sensor 22 may be provided in a portion where either one or both of the cutter head and the cutter support portion that rotates integrally with the cutter head can measure the strain capable of calculating the cutter thrust. You may install in any site
- one of “measured value ( ⁇ + 1)” and “measured value ( ⁇ 1)” is currently set to enable unified handling regardless of the rotation direction.
- the error data Er is calculated by regarding the measurement value Vp and the other as the corresponding measurement value Vo
- the present invention is not limited to this.
- the measurement value itself at the current angle ⁇ may be used as the current measurement value Vp, and the measurement value before one rotation of the current angle ⁇ may be used as the corresponding measurement value Vo.
- the encoder 20 may detect the rotation angle of the output shaft of the cutter driving unit, for example.
- the encoder only needs to be able to detect the rotation angle of the cutter head, and may detect any rotation angle of the tunnel machine.
- Tunneling machine 11 Cutter head 12 Cutter column (Cutter support part) 14 Cutter drive unit 20 Rotary encoder (Rotation angle detection unit) 22 Strain sensor 23 Data processing device (data processing unit) 112 Center shaft (cutter support) ⁇ Current angle A Op Average value of current measurement value and corresponding measurement value AG reference value Er error data F Measurement data Vo Corresponding measurement value Vp Current measurement value
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Abstract
Description
図1~図10を参照して、本発明の第1実施形態によるトンネル掘進機1について説明する。
図1に示すように、トンネル掘進機1は、掘削面を構成するカッタヘッド11と、カッタコラム12および旋回台13と、カッタ駆動部14とを備えている。第1実施形態では、トンネル掘進機1が、カッタヘッド11の支持方式として中間支持方式を採用した中~大口径タイプである例を示している。中間支持方式では、カッタヘッド11は、回転駆動される円環状の旋回台13に対して、回転軸線方向(X方向)に延びる脚部(カッタコラム12)によって取り付けられる。旋回台13は、前胴部15の隔壁(バルクヘッド)16に設けられた軸受17によって回転軸回りに回転可能に支持される。カッタコラム12は、本発明の「カッタ支持部」の一例である。
図4~図6を参照して、カッタ推力の計測データの取得処理を概念的に説明する。図4に示すように、第1実施形態では、データ処理装置23は、カッタヘッド11の現在角度θにおいて取得した歪みセンサ22の現在計測値Vpと、現在角度θに対応する回転角度において取得された過去の対応計測値Voとに基づいて、誤差データErを取得する。そして、データ処理装置23は、誤差データErを用いて、現在の計測データFを補正するように構成されている。
Aop={「計測値(θ+1)」+「計測値(θ-1)」}/2
(ただし、θ=0のときθ-1=359、θ=359のときθ+1=0)
・・・(1)
「計測値(θ+1)」および「計測値(θ-1)」は、それぞれ、回転角度(θ+1)における計測値、回転角度(θ-1)における計測値である。
次に、図7~図9を参照して、第1実施形態によるトンネル掘進機1のデータ処理装置23の行う処理について説明する。
図7に示す計測フローは、所定のサンプリング周期(たとえば、0.1秒)毎に各歪みセンサ22から計測結果を取得する処理を示している。
G1(φ)=G1c
G2(φ+90)=G2c
G3(φ+180)=G3c
G4(φ+270)=G4c
図8に示す演算フローは、所定の周期(たとえば、1秒)毎に、歪み計測値からカッタヘッド11に作用する力(カッタ推力)と力の回転角度分布とを求める処理を示している。
Gave(θ)=(G1c×EG1+G2c×EG2+G3c×EG3+G4c×EG4)/(EG1+EG2+EG3+EG4) ・・・(2)
Gave(θ)は、ゲージ1~4の歪み計測値のうち、異常の有無の確認によって正常と判断された歪み計測値の平均である。したがって、たとえば図7のステップS1においてゲージ4のみが異常と判定された場合(EG4=0)、異常と判断されたゲージ4を除いた残り3つの歪み計測値の平均が算出される。データ処理装置23は、得られたセンサ平均値Gave(θ)をメモリ232に記録する。
AG=ΣGave(θ)/360 ・・・(3)
Er(θ)={Gave(θ-1)+Gave(θ+1)}/2-AG
(ただし、θ=0のときθ-1=359、θ=359のときθ+1=0)
・・・(4)
F=K×Gave(θ) ・・・(5)
Kは、歪みを推力(応力)に変換するための係数である。
F=K×{Gave(θ)-Er(θ)} ・・・(6)
Fd(φ)=K×Gave(φ)
Gave(φ)=(G1(φ)×EG1+G2(φ)×EG2+G3(φ)×EG3+G4(φ)×EG4)/(EG1+EG2+EG3+EG4)
・・・(7)
次に、図10を参照して、トンネル掘進機1の動作時における、データ処理装置23の処理動作例を説明する。図10では、説明のための仮想的な動作例として、カッタヘッド11の回転が1秒につき1度進み、正回転(0度から359度へ進む回転)のみの場合の時系列に沿った処理動作例を示している。
第1実施形態では、以下のような効果を得ることができる。
次に、図11~図15を参照して、第1実施形態によるトンネル掘進機1に対して行った実証実験の結果について説明する。実証実験は、推進ジャッキ21のジャッキ推力からカッタヘッド11に作用するカッタ推力を正確に求めることができるように、トンネル掘進機1が地中に入っていない発進時に行い、トンネル掘進機1の自重による摩擦力は事前に計測して補正した。そして、並行して取得したカッタコラム12の歪み計測値と、ジャッキ推力から得られたカッタ推力とを比較した。
次に、本発明の第2実施形態による誤差データErの算出方法について説明する。第2実施形態では、上式(6)により誤差データErを算出する例を示した上記第1実施形態とは異なる、誤差データErの他の算出例について説明する。なお、第2実施形態において、誤差データErの算出方法以外については、上記第1実施形態と同様であるので、説明を省略する。
第2実施形態では、誤差データErは、下式(8)によって算出される。
Er(θ)=m×Er(θold)+(1-m)×[{Gave(θ-1)+Gave(θ+1)}/2-AG]
(ただし、θ=0のときθ-1=359、θ=359のときθ+1=0)
・・・(8)
mは、前回算出時の(現在最新の値として記録されている)誤差データErの重み係数であり、0<m<1の範囲で実際の使用状況に応じて適切な値が設定される。
第2実施形態においても、上記第1実施形態と同様、現在計測値Vpと対応計測値Voとに基づいて算出した誤差データErを用いて、現在の計測データFを補正することによって、回転に伴う計測誤差を抑制して、カッタヘッド11に作用する推力(計測データF)をより高精度に把握することができる。
11 カッタヘッド
12 カッタコラム(カッタ支持部)
14 カッタ駆動部
20 ロータリーエンコーダ(回転角度検出部)
22 歪みセンサ
23 データ処理装置(データ処理部)
112 センターシャフト(カッタ支持部)
θ 現在角度
Aop 現在計測値および対応計測値の平均値
AG 基準値
Er 誤差データ
F 計測データ
Vo 対応計測値
Vp 現在計測値
Claims (6)
- カッタヘッド(11)と、
前記カッタヘッドを支持し、かつ、前記カッタヘッドと共に回転するカッタ支持部(12)と、
前記カッタヘッドおよび前記カッタ支持部を回転駆動するカッタ駆動部(14)と、
前記カッタヘッドの回転角度を検出する回転角度検出部(20)と、
前記カッタヘッドまたは前記カッタ支持部に設けられた歪みセンサ(22)と、
前記歪みセンサの計測結果に基づき、前記カッタヘッドに作用する力の計測データ(F)を取得するデータ処理部(23)とを備え、
前記データ処理部は、前記カッタヘッドの現在角度(θ)において取得した前記歪みセンサの現在計測値(Vp)と、現在角度に対応する回転角度において取得された過去の対応計測値(Vo)とに基づいて誤差データ(Er)を取得し、前記誤差データを用いて、現在の前記計測データを補正するように構成されている、トンネル掘進機。 - 前記対応計測値は、現在角度に対する1回転分過去の前記歪みセンサの計測値である、請求項1に記載のトンネル掘進機。
- 前記データ処理部は、少なくとも過去の1回転分の複数の前記歪みセンサの計測値を用いて算出した基準値(AG)と、前記現在計測値および前記対応計測値とを用いて、前記誤差データを算出するように構成されている、請求項1に記載のトンネル掘進機。
- 前記基準値は、前記現在角度の直前の過去の1回転分にわたる前記歪みセンサの計測値の平均値である、請求項3に記載のトンネル掘進機。
- 前記データ処理部は、前記現在計測値および前記対応計測値の平均値(AOP)と、前記基準値との差分により、前記誤差データを算出するように構成されている、請求項3に記載のトンネル掘進機。
- 前記データ処理部は、前記カッタヘッドの回転開始から少なくとも1回転後の回転中に前記誤差データによる前記計測データの補正を行い、前記カッタヘッドの回転が所定時間以上継続して停止した場合には、前記誤差データによる前記計測データの補正を停止するように構成されている、請求項1に記載のトンネル掘進機。
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US15/560,269 US9957796B2 (en) | 2015-03-24 | 2016-01-20 | Tunnel boring machine |
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JP6618685B2 (ja) * | 2015-01-13 | 2019-12-11 | 日立造船株式会社 | トンネル掘進機 |
US10711609B2 (en) * | 2017-08-01 | 2020-07-14 | Dalian University Of Technology | Vibration and strain monitoring method for key positions of tunnel boring machine |
CN109296373B (zh) * | 2018-09-13 | 2020-04-07 | 大连理工大学 | 全断面岩石掘进机主梁及其连接法兰振动及应变的监测方法 |
CN109630154B (zh) * | 2019-01-24 | 2023-08-25 | 华能西藏雅鲁藏布江水电开发投资有限公司 | 一种用于隧道掘进的掘进机器人及远程移动终端指挥系统 |
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JP7016195B1 (ja) | 2021-09-06 | 2022-02-18 | Wota株式会社 | プログラム、方法、情報処理装置、システム |
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CN107407147A (zh) | 2017-11-28 |
JP2016180237A (ja) | 2016-10-13 |
CN107407147B (zh) | 2020-01-03 |
SG11201707854UA (en) | 2017-10-30 |
KR102517362B1 (ko) | 2023-03-31 |
US20180073362A1 (en) | 2018-03-15 |
US9957796B2 (en) | 2018-05-01 |
JP6463184B2 (ja) | 2019-01-30 |
KR20170128460A (ko) | 2017-11-22 |
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